3 papers
cs.RO2026
Learned Incremental Nonlinear Dynamic Inversion for Quadrotors with and without Slung Payloads
Eckart Cobo-Briesewitz, Khaled Wahba, Wolfgang Hönig
The increasing complexity of multirotor applications demands flight controllers that can accurately account for all forces acting on the vehicle. Conventional controllers model mos…
cs.RO2025
db-CBS: Discontinuity-Bounded Conflict-Based Search for Multi-Robot Kinodynamic Motion Planning
Akmaral Moldagalieva, Joaquim Ortiz-Haro, Wolfgang Hönig
This paper presents a multi-robot kinodynamic motion planner that enables a team of robots with different dynamics, actuation limits, and shapes to reach their goals in challenging…
cs.RO2024
GSRM: Building Roadmaps for Query-Efficient and Near-Optimal Path Planning Using a Reaction Diffusion System
Christian Henkel, Marc Toussaint, Wolfgang Hönig
Mobile robots frequently navigate on roadmaps, i.e., graphs where edges represent safe motions, in applications such as healthcare, hospitality, and warehouse automation. Often the…